Substation unmanned aerial vehicle optimal emergency risk avoiding path selection method

The invention provides a substation unmanned aerial vehicle optimal emergency risk avoiding path selection method. The method comprises the following steps that S1, an original three-dimensional imageis acquired through a camera closest to a fault unmanned aerial vehicle, and an original three-dimensional model is constructed; S2, the original three-dimensional model is expanded by using three-dimensional images acquired by other cameras in the Internet of Things of the transformer substation to obtain an expanded three-dimensional model; S3, obstacle recognition is carried out in the expanded three-dimensional model, and an area with a suspicious obstacle is recognized; and S4, an optimal emergency risk avoiding path is planned in the expanded three-dimensional model by adopting an improved ant colony algorithm according to the identified area with the suspicious obstacle. The invention provides an optimal emergency risk avoiding path selection method for an unmanned aerial vehicle of a transformer substatio